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<div class="title">n_joint_robot_types.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// BSD 3-Clause License</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">// Copyright (C) 2018-2019, Max Planck Gesellschaft</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">// Copyright note valid unless otherwise stated in individual files.</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">// All rights reserved.</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"></span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#pragma once</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;</div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &lt;cmath&gt;</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;</div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &lt;Eigen/Eigen&gt;</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;</div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="preprocessor">#include &lt;robot_interfaces/robot_backend.hpp&gt;</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="preprocessor">#include &lt;robot_interfaces/robot_data.hpp&gt;</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="preprocessor">#include &lt;robot_interfaces/robot_frontend.hpp&gt;</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacerobot__interfaces.html">robot_interfaces</a></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;{</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="keyword">template</span> &lt;<span class="keywordtype">size_t</span> N&gt;</div><div class="line"><a name="l00031"></a><span class="lineno"><a class="line" href="structrobot__interfaces_1_1NJointRobotTypes.html">   31</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structrobot__interfaces_1_1NJointRobotTypes.html">NJointRobotTypes</a></div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;{</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;    <span class="keyword">typedef</span> Eigen::Matrix&lt;double, N, 1&gt; Vector;</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;</div><div class="line"><a name="l00035"></a><span class="lineno"><a class="line" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html">   35</a></span>&#160;    <span class="keyword">struct </span><a class="code" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html">Action</a></div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;    {</div><div class="line"><a name="l00038"></a><span class="lineno"><a class="line" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html#ad19a93b677bdc60e655071743acf160e">   38</a></span>&#160;        Vector <a class="code" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html#ad19a93b677bdc60e655071743acf160e">torque</a>;</div><div class="line"><a name="l00040"></a><span class="lineno"><a class="line" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html#ad0d8104b1e521c7d0a316d093155e3a8">   40</a></span>&#160;        Vector <a class="code" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html#ad0d8104b1e521c7d0a316d093155e3a8">position</a>;</div><div class="line"><a name="l00042"></a><span class="lineno"><a class="line" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html#a16eb24df6bdbc10c8ce08c0621723b92">   42</a></span>&#160;        Vector <a class="code" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html#a16eb24df6bdbc10c8ce08c0621723b92">position_kp</a>;</div><div class="line"><a name="l00044"></a><span class="lineno"><a class="line" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html#a3690aa864884fb51fb411d26eeea3fd4">   44</a></span>&#160;        Vector <a class="code" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html#a3690aa864884fb51fb411d26eeea3fd4">position_kd</a>;</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;</div><div class="line"><a name="l00075"></a><span class="lineno"><a class="line" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html#aeb7fbd93adcc0140b5db42298211fe9d">   75</a></span>&#160;        <a class="code" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html#aeb7fbd93adcc0140b5db42298211fe9d">Action</a>(Vector torque = Vector::Zero(),</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;               Vector position = <a class="code" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html#ab963d5faa78618bdaae53dc70ca936ae">None</a>(),</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;               Vector position_kp = <a class="code" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html#ab963d5faa78618bdaae53dc70ca936ae">None</a>(),</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;               Vector position_kd = <a class="code" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html#ab963d5faa78618bdaae53dc70ca936ae">None</a>())</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;            : torque(torque),</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;              position(position),</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;              position_kp(position_kp),</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;              position_kd(position_kd)</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;        {</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;        }</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;</div><div class="line"><a name="l00093"></a><span class="lineno"><a class="line" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html#ae5aae444c808728af59a8a5b27035293">   93</a></span>&#160;        <span class="keyword">static</span> <a class="code" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html">Action</a> <a class="code" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html#ae5aae444c808728af59a8a5b27035293">Torque</a>(Vector torque)</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;        {</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;            <span class="keywordflow">return</span> <a class="code" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html#aeb7fbd93adcc0140b5db42298211fe9d">Action</a>(torque);</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;        }</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;</div><div class="line"><a name="l00111"></a><span class="lineno"><a class="line" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html#ad60ea89acc73e544634b47a74797afd1">  111</a></span>&#160;        <span class="keyword">static</span> <a class="code" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html">Action</a> <a class="code" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html#ad60ea89acc73e544634b47a74797afd1">Position</a>(Vector position,</div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;                               Vector kp = <a class="code" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html#ab963d5faa78618bdaae53dc70ca936ae">None</a>(),</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;                               Vector kd = <a class="code" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html#ab963d5faa78618bdaae53dc70ca936ae">None</a>())</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;        {</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;            <span class="keywordflow">return</span> <a class="code" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html#aeb7fbd93adcc0140b5db42298211fe9d">Action</a>(Vector::Zero(), position, kp, kd);</div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;        }</div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;</div><div class="line"><a name="l00133"></a><span class="lineno"><a class="line" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html#aca6f329803476479e618e3d678b4148a">  133</a></span>&#160;        <span class="keyword">static</span> <a class="code" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html">Action</a> <a class="code" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html#aca6f329803476479e618e3d678b4148a">TorqueAndPosition</a>(Vector torque = Vector::Zero(),</div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;                                        Vector position = <a class="code" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html#ab963d5faa78618bdaae53dc70ca936ae">None</a>(),</div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;                                        Vector position_kp = <a class="code" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html#ab963d5faa78618bdaae53dc70ca936ae">None</a>(),</div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;                                        Vector position_kd = <a class="code" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html#ab963d5faa78618bdaae53dc70ca936ae">None</a>())</div><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;        {</div><div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;            <span class="keywordflow">return</span> <a class="code" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html#aeb7fbd93adcc0140b5db42298211fe9d">Action</a>(</div><div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;                torque, position, position_kp, position_kd);</div><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;        }</div><div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;</div><div class="line"><a name="l00147"></a><span class="lineno"><a class="line" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html#ad6fa1cd952afc4f02fcabc4221802b47">  147</a></span>&#160;        <span class="keyword">static</span> <a class="code" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html">Action</a> <a class="code" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html#ad6fa1cd952afc4f02fcabc4221802b47">Zero</a>()</div><div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;        {</div><div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;            <span class="keywordflow">return</span> <a class="code" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html#aeb7fbd93adcc0140b5db42298211fe9d">Action</a>();</div><div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;        }</div><div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;</div><div class="line"><a name="l00158"></a><span class="lineno"><a class="line" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html#ab963d5faa78618bdaae53dc70ca936ae">  158</a></span>&#160;        <span class="keyword">static</span> Vector <a class="code" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html#ab963d5faa78618bdaae53dc70ca936ae">None</a>()</div><div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;        {</div><div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;            <span class="keywordflow">return</span> Vector::Constant(std::numeric_limits&lt;double&gt;::quiet_NaN());</div><div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;        }</div><div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;    };</div><div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;</div><div class="line"><a name="l00164"></a><span class="lineno"><a class="line" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Observation.html">  164</a></span>&#160;    <span class="keyword">struct </span><a class="code" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Observation.html">Observation</a></div><div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;    {</div><div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;        Vector <a class="code" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html#ad0d8104b1e521c7d0a316d093155e3a8">position</a>;</div><div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;        Vector velocity;</div><div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;        Vector <a class="code" href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html#ad19a93b677bdc60e655071743acf160e">torque</a>;</div><div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;    };</div><div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;</div><div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;    <span class="keyword">typedef</span> <a class="code" href="classrobot__interfaces_1_1RobotBackend.html">RobotBackend&lt;Action, Observation&gt;</a> <a class="code" href="classrobot__interfaces_1_1RobotBackend.html">Backend</a>;</div><div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;    <span class="keyword">typedef</span> std::shared_ptr&lt;Backend&gt; BackendPtr;</div><div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;    <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="structrobot__interfaces_1_1RobotBackend_1_1Status.html">Backend::Status</a> <a class="code" href="structrobot__interfaces_1_1RobotBackend_1_1Status.html">Status</a>;</div><div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;</div><div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;    <span class="keyword">typedef</span> <a class="code" href="classrobot__interfaces_1_1RobotData.html">RobotData&lt;Action, Observation, Status&gt;</a> <a class="code" href="classrobot__interfaces_1_1RobotData.html">Data</a>;</div><div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;    <span class="keyword">typedef</span> std::shared_ptr&lt;Data&gt; DataPtr;</div><div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;</div><div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;    <span class="keyword">typedef</span> <a class="code" href="classrobot__interfaces_1_1RobotFrontend.html">RobotFrontend&lt;Action, Observation&gt;</a> <a class="code" href="classrobot__interfaces_1_1RobotFrontend.html">Frontend</a>;</div><div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;    <span class="keyword">typedef</span> std::shared_ptr&lt;Frontend&gt; FrontendPtr;</div><div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;};  <span class="comment">// namespace robot_interfaces</span></div><div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;</div><div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;}  <span class="comment">// namespace robot_interfaces</span></div><div class="ttc" id="structrobot__interfaces_1_1NJointRobotTypes_1_1Action_html_ad0d8104b1e521c7d0a316d093155e3a8"><div class="ttname"><a href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html#ad0d8104b1e521c7d0a316d093155e3a8">robot_interfaces::NJointRobotTypes::Action::position</a></div><div class="ttdeci">Vector position</div><div class="ttdoc">Desired position. Set to NaN to disable position controller. </div><div class="ttdef"><b>Definition:</b> n_joint_robot_types.hpp:40</div></div>
<div class="ttc" id="classrobot__interfaces_1_1RobotData_html"><div class="ttname"><a href="classrobot__interfaces_1_1RobotData.html">robot_interfaces::RobotData</a></div><div class="ttdoc">Contains all the input and output data of the robot. </div><div class="ttdef"><b>Definition:</b> robot_data.hpp:50</div></div>
<div class="ttc" id="classrobot__interfaces_1_1RobotFrontend_html"><div class="ttname"><a href="classrobot__interfaces_1_1RobotFrontend.html">robot_interfaces::RobotFrontend</a></div><div class="ttdoc">Communication link between RobotData and the user. </div><div class="ttdef"><b>Definition:</b> robot_frontend.hpp:37</div></div>
<div class="ttc" id="structrobot__interfaces_1_1NJointRobotTypes_1_1Action_html"><div class="ttname"><a href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html">robot_interfaces::NJointRobotTypes::Action</a></div><div class="ttdef"><b>Definition:</b> n_joint_robot_types.hpp:35</div></div>
<div class="ttc" id="structrobot__interfaces_1_1NJointRobotTypes_1_1Action_html_aca6f329803476479e618e3d678b4148a"><div class="ttname"><a href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html#aca6f329803476479e618e3d678b4148a">robot_interfaces::NJointRobotTypes::Action::TorqueAndPosition</a></div><div class="ttdeci">static Action TorqueAndPosition(Vector torque=Vector::Zero(), Vector position=None(), Vector position_kp=None(), Vector position_kd=None())</div><div class="ttdoc">Create an action with both torque and position commands. </div><div class="ttdef"><b>Definition:</b> n_joint_robot_types.hpp:133</div></div>
<div class="ttc" id="classrobot__interfaces_1_1RobotBackend_html"><div class="ttname"><a href="classrobot__interfaces_1_1RobotBackend.html">robot_interfaces::RobotBackend</a></div><div class="ttdoc">Communication link between RobotDriver and RobotData. </div><div class="ttdef"><b>Definition:</b> robot_backend.hpp:37</div></div>
<div class="ttc" id="structrobot__interfaces_1_1NJointRobotTypes_1_1Action_html_a3690aa864884fb51fb411d26eeea3fd4"><div class="ttname"><a href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html#a3690aa864884fb51fb411d26eeea3fd4">robot_interfaces::NJointRobotTypes::Action::position_kd</a></div><div class="ttdeci">Vector position_kd</div><div class="ttdoc">D-gain for position controller. If NaN, default is used. </div><div class="ttdef"><b>Definition:</b> n_joint_robot_types.hpp:44</div></div>
<div class="ttc" id="structrobot__interfaces_1_1NJointRobotTypes_1_1Action_html_aeb7fbd93adcc0140b5db42298211fe9d"><div class="ttname"><a href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html#aeb7fbd93adcc0140b5db42298211fe9d">robot_interfaces::NJointRobotTypes::Action::Action</a></div><div class="ttdeci">Action(Vector torque=Vector::Zero(), Vector position=None(), Vector position_kp=None(), Vector position_kd=None())</div><div class="ttdoc">Create action with desired torque and (optional) position. </div><div class="ttdef"><b>Definition:</b> n_joint_robot_types.hpp:75</div></div>
<div class="ttc" id="structrobot__interfaces_1_1NJointRobotTypes_html"><div class="ttname"><a href="structrobot__interfaces_1_1NJointRobotTypes.html">robot_interfaces::NJointRobotTypes</a></div><div class="ttdoc">Collection of types for a generic N-joint BLMC robot. </div><div class="ttdef"><b>Definition:</b> n_joint_robot_types.hpp:31</div></div>
<div class="ttc" id="structrobot__interfaces_1_1NJointRobotTypes_1_1Action_html_a16eb24df6bdbc10c8ce08c0621723b92"><div class="ttname"><a href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html#a16eb24df6bdbc10c8ce08c0621723b92">robot_interfaces::NJointRobotTypes::Action::position_kp</a></div><div class="ttdeci">Vector position_kp</div><div class="ttdoc">P-gain for position controller. If NaN, default is used. </div><div class="ttdef"><b>Definition:</b> n_joint_robot_types.hpp:42</div></div>
<div class="ttc" id="structrobot__interfaces_1_1NJointRobotTypes_1_1Action_html_ad60ea89acc73e544634b47a74797afd1"><div class="ttname"><a href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html#ad60ea89acc73e544634b47a74797afd1">robot_interfaces::NJointRobotTypes::Action::Position</a></div><div class="ttdeci">static Action Position(Vector position, Vector kp=None(), Vector kd=None())</div><div class="ttdoc">Create an action that only contains a position command. </div><div class="ttdef"><b>Definition:</b> n_joint_robot_types.hpp:111</div></div>
<div class="ttc" id="structrobot__interfaces_1_1RobotBackend_1_1Status_html"><div class="ttname"><a href="structrobot__interfaces_1_1RobotBackend_1_1Status.html">robot_interfaces::RobotBackend::Status</a></div><div class="ttdef"><b>Definition:</b> robot_backend.hpp:40</div></div>
<div class="ttc" id="structrobot__interfaces_1_1NJointRobotTypes_1_1Action_html_ad6fa1cd952afc4f02fcabc4221802b47"><div class="ttname"><a href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html#ad6fa1cd952afc4f02fcabc4221802b47">robot_interfaces::NJointRobotTypes::Action::Zero</a></div><div class="ttdeci">static Action Zero()</div><div class="ttdoc">Create a zero-torque action. </div><div class="ttdef"><b>Definition:</b> n_joint_robot_types.hpp:147</div></div>
<div class="ttc" id="structrobot__interfaces_1_1NJointRobotTypes_1_1Action_html_ae5aae444c808728af59a8a5b27035293"><div class="ttname"><a href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html#ae5aae444c808728af59a8a5b27035293">robot_interfaces::NJointRobotTypes::Action::Torque</a></div><div class="ttdeci">static Action Torque(Vector torque)</div><div class="ttdoc">Create an action that only contains a torque command. </div><div class="ttdef"><b>Definition:</b> n_joint_robot_types.hpp:93</div></div>
<div class="ttc" id="structrobot__interfaces_1_1NJointRobotTypes_1_1Observation_html"><div class="ttname"><a href="structrobot__interfaces_1_1NJointRobotTypes_1_1Observation.html">robot_interfaces::NJointRobotTypes::Observation</a></div><div class="ttdef"><b>Definition:</b> n_joint_robot_types.hpp:164</div></div>
<div class="ttc" id="namespacerobot__interfaces_html"><div class="ttname"><a href="namespacerobot__interfaces.html">robot_interfaces</a></div><div class="ttdef"><b>Definition:</b> __init__.py:1</div></div>
<div class="ttc" id="structrobot__interfaces_1_1NJointRobotTypes_1_1Action_html_ab963d5faa78618bdaae53dc70ca936ae"><div class="ttname"><a href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html#ab963d5faa78618bdaae53dc70ca936ae">robot_interfaces::NJointRobotTypes::Action::None</a></div><div class="ttdeci">static Vector None()</div><div class="ttdoc">Create a NaN-Vector. </div><div class="ttdef"><b>Definition:</b> n_joint_robot_types.hpp:158</div></div>
<div class="ttc" id="structrobot__interfaces_1_1NJointRobotTypes_1_1Action_html_ad19a93b677bdc60e655071743acf160e"><div class="ttname"><a href="structrobot__interfaces_1_1NJointRobotTypes_1_1Action.html#ad19a93b677bdc60e655071743acf160e">robot_interfaces::NJointRobotTypes::Action::torque</a></div><div class="ttdeci">Vector torque</div><div class="ttdoc">Desired torque command (in addition to position controller). </div><div class="ttdef"><b>Definition:</b> n_joint_robot_types.hpp:38</div></div>
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